Efficient implementation of inverse kinematics on a 6-DOF industrial robot using conformal geometric algebra

DOI10.1007/S00006-016-0698-2MaRDI QIDQ1695124zbMATH OpenOpenAlexFDO

Authors Sondre Sanden Tørdal, Geir Hovland, Ilya Tyapin

Publication date 7 February 2018

Published in Advances in Applied Clifford Algebras (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s00006-016-0698-2

zbMATH Keywords

motion compensationinverse kinematicsconformal geometric algebraindustrial robotics

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Clifford algebras, spinors (15A66)

Recommendations

• Iterative inverse kinematics for robot manipulators using quaternion algebra and conformal geometric algebra
• Inverse kinematics computation in computer graphics and robotics using conformal geometric algebra
• A practical symbolic algorithm for the inverse kinematics of 6R manipulators with simple geometry
• A new and efficient algorithm for the inverse kinematics of a general serial \(6R\) manipulator
• Inverse displacement solutions of serial robot based on conformal geometric algebra
• Robust pose control of robot manipulators using conformal geometric algebra
• Inverse kinematics solutions using conformal geometric algebra
• Analytical solution to inverse kinematic problem for 6-DOF robot-manipulator
• Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism
• A kinematic structure-based classification and compact kinematic equations for six-dof industrial robotic manipulators

Cites work

• Gaalop -- high performance parallel computing based on conformal geometric algebra
• Geometric algebra with applications in engineering
• Inverse kinematics computation in computer graphics and robotics using conformal geometric algebra
• Inverse kinematics of spherical wrist robot arms: Analysis and simulation

Cited in

(10)

• Inverse kinematics for a 6-DOF walking humanoid robot leg
• Inverse kinematics solutions using conformal geometric algebra
• Curvature properties of 6-parametric robot manipulators
• Local controllability of snake robots based on CRA, theory and practice
• High-order inverse dynamics of serial robots based on projective geometric algebra
• Iterative inverse kinematics for robot manipulators using quaternion algebra and conformal geometric algebra
• Inverse kinematics computation in computer graphics and robotics using conformal geometric algebra
• Inverse displacement solutions of serial robot based on conformal geometric algebra
• New applications of Clifford's geometric algebra
• A kinematic structure-based classification and compact kinematic equations for six-dof industrial robotic manipulators

Describes a project that uses

Uses Software

• Gaigen
• Gaalop

This page was built for publication: Efficient implementation of inverse kinematics on a 6-DOF industrial robot using conformal geometric algebra

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1695124)